CN114730000A - Method and device for determining array element layout of ultrasonic phased array and storage medium - Google Patents
Method and device for determining array element layout of ultrasonic phased array and storage medium Download PDFInfo
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- CN114730000A CN114730000A CN202080080916.6A CN202080080916A CN114730000A CN 114730000 A CN114730000 A CN 114730000A CN 202080080916 A CN202080080916 A CN 202080080916A CN 114730000 A CN114730000 A CN 114730000A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
An array element layout method of an ultrasonic phased array comprises the following steps: establishing a loss function, wherein parameters to be optimized in the loss function at least comprise position parameters of each array element in the ultrasonic phased array, and the value of the loss function is obtained by fusing the side lobe levels corresponding to the ultrasonic phased array in a plurality of wave beam directions (502); determining a target parameter to be optimized that minimizes the value of the loss function (504); and carrying out array element layout (506) on the ultrasonic phased array by using the target parameter to be optimized. The array element layout determined by the array element layout method of the ultrasonic phased array can ensure that the ultrasonic phased array has better detection accuracy in a plurality of wave beam directions, and can meet the vision field requirement of a robot perception environment.
Description
Technical Field
The present application relates to the field of acoustic detection technologies, and in particular, to a method and an apparatus for determining an array element layout of an ultrasonic phased array, a computer-readable storage medium, an ultrasonic phased array, and a movable platform.
Background
An ultrasonic phased array is a device that can detect the position of an object. Which may include an array generator and an array receiver. The array generator can form an ultrasonic wave beam towards a specific direction under the control of a driving algorithm, the ultrasonic wave beam can be reflected after meeting a target object in the direction, and the reflected echo can be acquired by the array receiver. By calculating the time interval between the moment of transmitting the sound wave and the moment of receiving the sound wave, the distance corresponding to the target object can be calculated, and the detection of the position of the target object is realized.
At present, array elements in an ultrasonic phased array are uniformly distributed, although the uniform distribution is easy to design and realize, grating lobes with the intensity equivalent to that of a main lobe can appear in a sound field, the authenticity of a distance measurement result can be greatly influenced by the existence of the grating lobes, artifacts can be formed in a three-dimensional image, and the overall quality of the image is influenced.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for determining an array element layout of an ultrasonic phased array, and a computer-readable storage medium, an ultrasonic phased array, and a movable platform, and one of the purposes is to solve the technical problem that imaging quality is affected by too high side lobe intensity in a uniform array.
In a first aspect, an embodiment of the present application provides an array element layout method for an ultrasonic phased array, including:
establishing a loss function, wherein parameters to be optimized in the loss function at least comprise position parameters of each array element in the ultrasonic phased array, and the value of the loss function is obtained by fusing sidelobe levels corresponding to the ultrasonic phased array in a plurality of wave beam directions;
determining a target parameter to be optimized which minimizes the value of the loss function;
and carrying out array element layout on the ultrasonic phased array by using the target parameter to be optimized.
A second aspect of the embodiments of the present application provides an array element layout apparatus for an ultrasonic phased array, including: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:
establishing a loss function, wherein parameters to be optimized in the loss function at least comprise position parameters of each array element in the ultrasonic phased array, and the value of the loss function is obtained by fusing sidelobe levels corresponding to the ultrasonic phased array in a plurality of beam directions;
determining a target parameter to be optimized which minimizes the value of the loss function;
and carrying out array element layout on the ultrasonic phased array by using the target parameter to be optimized.
A third aspect of the embodiments of the present application provides an ultrasonic phased array, including: the array element layout method comprises the steps of determining a plurality of array elements, wherein the layout of the plurality of array elements is determined by the array element layout method of the ultrasonic phased array provided by the embodiment of the application.
A fourth aspect of the embodiments of the present application provides a movable platform, including:
a body;
the driving device is connected with the machine body and used for providing power for the movable platform;
the ultrasonic phased array is mounted on the body, and the array element layout of the ultrasonic phased array is determined by the array element layout method of the ultrasonic phased array provided by the embodiment of the application.
A fifth aspect of the embodiments of the present application provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the array element layout method for an ultrasonic phased array provided by the embodiments of the present application.
According to the array element layout method provided by the embodiment of the application, the function value of the established loss function can represent the fusion result of the ultrasonic phased array in the side lobe levels corresponding to a plurality of wave beam directions, so that the ultrasonic phased array can have better detection accuracy in a plurality of wave beam directions based on the array element layout obtained by optimizing the loss function, and the vision field requirement of the robot perception environment can be met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic diagram of an ultrasonic detection principle provided in an embodiment of the present application.
Fig. 2 is a schematic diagram of a beam forming principle provided in an embodiment of the present application.
Fig. 3 is a layout diagram of a uniform array provided by an embodiment of the present application.
Fig. 4 is a directional diagram corresponding to the uniform array provided by the embodiment of the present application.
Fig. 5 is a flowchart of an array element layout method according to an embodiment of the present application.
Fig. 6 is a flowchart of array element layout validation based on a genetic algorithm provided in an embodiment of the present application.
Fig. 7 is a schematic diagram of an optimized array element layout according to an embodiment of the present application.
Fig. 8 is a three-dimensional display diagram of side lobe levels corresponding to different beam directions provided by the embodiment of the present application.
Fig. 9 is a schematic structural diagram of an array element layout apparatus according to an embodiment of the present application.
Fig. 10 is a schematic structural diagram of a movable platform provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
An ultrasonic phased array is a device that can detect the position of an object and may include an array generator and an array receiver. The array generator can form an ultrasonic wave beam towards a specific direction under the control of a driving algorithm, the ultrasonic wave beam can be reflected after meeting a target object in the direction, and the reflected echo can be acquired by the array receiver. By calculating the time interval between the moment of transmitting the sound wave and the moment of receiving the sound wave, the distance corresponding to the target object can be calculated, and the detection of the position of the target object is realized. Referring to fig. 1, fig. 1 is a schematic diagram of an ultrasonic detection principle provided in an embodiment of the present application.
An ultrasonic phased array may be comprised of a plurality of array elements. The array elements can send out ultrasonic waves and also can receive the ultrasonic waves, and in one example, the array elements can be piezoelectric ceramics, and the ultrasonic waves are sent and received by utilizing a piezoelectric effect and an inverse piezoelectric effect. Because the ultrasonic wave emitted by a single array element is close to spherical wave and has no resolution (or no directivity) in the air, a plurality of array elements can be used for forming an array, and a directional beam can be formed by using the interference principle of the wave. As shown in fig. 2, fig. 2 is a schematic diagram of a beam forming principle provided in an embodiment of the present application.
In one embodiment, the ultrasonic phased array may be a two-dimensional array, i.e., the individual elements of the array may be distributed in a plane. Compared with a one-dimensional linear array with all array elements arranged along a straight line, the two-dimensional array can detect the three-dimensional coordinates of a target object in space, so that a three-dimensional image of a scene can be constructed.
The ultrasonic phased array can be applied to the robot perception field and used for a robot to perceive an environment and construct a three-dimensional image of the environment or a scene. In one embodiment, the ultrasonic phased array may be disposed on a movable platform. The movable platform may be a drone, drone vehicle, drone, robot, or the like. In one embodiment, the ultrasound phased array may be disposed on a terminal device, such as a cell phone, tablet, computer, or the like.
Ultrasonic phased arrays have several advantages in detection over lidar. Specifically, the ultrasonic phased array realizes distance measurement based on ultrasonic waves, the ultrasonic waves are not easily influenced by environmental light and material optical properties, and the ultrasonic phased array can also have a good detection effect in a scene with high reflectivity and high external illumination; the ultrasonic wave also has certain penetrating power, and can be used for detecting in the environments of water mist, sand dust and the like.
In one embodiment, the array elements in the ultrasonic phased array may be uniformly distributed. Referring to fig. 3, fig. 3 is a schematic layout diagram of a uniform array provided in an embodiment of the present application. As shown in fig. 3, the array elements in the uniform array can keep the same interval, and the array elements can keep alignment in both the horizontal direction and the vertical direction. The uniform array is a layout mode which is easy to design and implement, but when the layout mode of the uniform array is adopted, grating lobes with the intensity equivalent to that of a main lobe can appear in a sound field, the existence of the grating lobes can greatly influence the reality of a distance measurement result, artifacts can be formed in a three-dimensional image, and the overall quality of the image is influenced.
Referring to fig. 4, fig. 4 is a directional diagram corresponding to the uniform array provided by the embodiment of the present application. The array element pitch of the ultrasonic phased array corresponding to fig. 4 is twice the wavelength, in the directional diagram of fig. 4, the beam direction or beam angle is 0 degree, the abscissa represents the angle of different beam directions, and the ordinate represents the sound intensity. It can be seen that in addition to the main lobe in the 0 degree beam direction, grating lobes with intensities comparable to the main lobe are generated in other directions, which can seriously affect the detection effect.
The applicant has found that such grating lobes are generated in the sound field because the array elements of the ultrasonic phased array are uniformly arranged, and particularly, when the distance between every two array elements is equal, the acoustic wave coherence enhancement occurs in the direction of the generation of the grating lobes. Therefore, in one embodiment, the array elements in the ultrasonic phased array can adopt a non-uniform layout mode, so that the side lobes (grating lobes) can be effectively suppressed.
There are many different embodiments of non-uniform array element layouts, and different non-uniform layouts may also have a large difference in the effect of suppressing side lobes. In order to determine an optimal array element layout, an embodiment of the present application provides an array element layout method for an ultrasonic phased array, and reference may be made to fig. 5, where fig. 5 is a flowchart of the array element layout method provided in the embodiment of the present application. The method may comprise the steps of:
s502, establishing a loss function, wherein parameters to be optimized in the loss function at least comprise position parameters of each array element in the ultrasonic phased array, and the value of the loss function is obtained by fusing the side lobe levels corresponding to the ultrasonic phased array in a plurality of wave beam directions.
S504, determining a target parameter to be optimized which enables the value of the loss function to be minimum.
S506, performing array element layout on the ultrasonic phased array by using the target parameter to be optimized.
The problem of determining the optimal array element layout can be regarded as an optimization problem. In the optimization problem, the parameters to be optimized may include at least position parameters of each array element in the ultrasonic phased array, such as X-axis coordinates and Y-axis coordinates of each array element. The objective of the optimization problem is to determine an optimal non-uniform array element layout, and before determining the optimal array element layout, an evaluation mode of determining the quality of the array element layout needs to be determined, that is, what kind of array element layout is the desired array element layout is defined, and the evaluation mode can be described by a loss function.
The quality of the array element layout is related to the suppression effect of the array element layout on the side lobe. For example, an array element layout may have low side lobes in the beam direction a and have a good side lobe suppression effect, but may have high side lobes in the beam direction B and have a poor side lobe suppression effect. In one embodiment, if the ultrasonic phased array is only required to have high detection accuracy in a specific direction, the quality of the array element layout can be evaluated by using the side lobe level corresponding to the specific direction, that is, the lower the side lobe level corresponding to the specific direction is, the better the suppression effect on the side lobe is, the better the array element layout is considered.
However, for the ultrasonic phased array applied to the robot sensing field, since the robot senses the environment in multiple directions, the ultrasonic phased array needs to have high detection accuracy in multiple directions, that is, a good side lobe suppression effect in multiple beam directions. Then, in one embodiment, the side lobe levels corresponding to the multiple beam directions may be fused, and the quality of the array element layout may be evaluated by using the fusion result of the side lobe levels corresponding to the multiple beam directions. In specific implementation, a loss function that can describe the fusion result can be established, so that the quality of the array element layout can be quantized into a value of the loss function, and the lower the value of the loss function corresponding to one array element layout is, the better the comprehensive effect of sidelobe suppression of the array element layout in multiple directions is, and the better the array element layout is.
In one embodiment, the plurality of beam directions may include respective beam directions within a target field of view, which may be a desired detection range of the robot or the mobile platform.
According to the array element layout method provided by the embodiment of the application, the function value of the established loss function can represent the fusion result of the ultrasonic phased array in the side lobe levels corresponding to a plurality of wave beam directions, so that the ultrasonic phased array can have better detection accuracy in a plurality of wave beam directions based on the array element layout obtained by optimizing the loss function, and the vision field requirement of the robot perception environment can be met.
It is understood that after the loss function is determined, a constraint condition corresponding to the loss function may also be established. In one embodiment, a range of apertures corresponding to the ultrasonic phased array may be determined according to a detection environment, and constraints corresponding to the range of apertures may be established. In one embodiment, the number range of the array elements may also be determined according to the cost control requirement, and a constraint condition corresponding to the number range may be established. In an embodiment, the size of the array elements may also be determined according to the process level, and the minimum spacing between the array elements may be determined according to the size, and the constraint condition corresponding to the minimum spacing may be established.
In determining the target parameter to be optimized that minimizes the value of the loss function, in one embodiment, the target parameter to be optimized may be optimized by a specified optimization algorithm. Here, the specified optimization algorithm may include, but is not limited to, any of the following: genetic algorithm, particle swarm algorithm, ant colony algorithm and simulated annealing algorithm.
When the target parameter to be optimized is determined by the specified optimization algorithm, specifically, the parameter to be optimized may be initialized to obtain one or more sets of parameters to be optimized. Each group of parameters to be optimized corresponds to one array element layout, so that the values of the loss functions corresponding to various array element layouts can be calculated through the established loss functions. According to the values of the loss functions corresponding to the various array element layouts, the various array element layouts can be adjusted or updated (that is, the parameter values of the various groups of parameters to be optimized are adjusted or updated), the values … … of the loss functions corresponding to the adjusted or updated array element layouts can be calculated again, and iteration is carried out until the termination condition is met, and the target parameters to be optimized, which enable the values of the loss functions to be minimum, can be selected from the final various groups of parameters to be optimized.
After the parameters to be optimized of the target are determined, the parameters to be optimized of the target correspond to the optimal array element layout, so that the array element layout can be carried out on the ultrasonic phased array according to the parameters to be optimized of the target, and finally the ultrasonic phased array capable of well inhibiting side lobes in multiple wave beam directions can be obtained.
In one embodiment, the value of the loss function may be calculated by weighting the side lobe levels of the ultrasound phased array in a plurality of beam directions. Here, different weights may be set for different beam directions according to different scene requirements. In one embodiment, a higher weight may be set for the target beam direction and a lower weight may be set for beam directions other than the target beam direction. For example, for a robot sensing environment, the central field of view has a higher requirement on detection accuracy than the peripheral field of view, so that the beam direction in the central field of view can be determined as a target beam direction, and a higher weight is set for the target beam direction, so that the optimized array element layout has a better side lobe suppression effect in the central field of view.
As previously mentioned, the side lobe levels may be different for different beam directions. Here, the side lobe level may also be referred to as peak side-lobe level (PSLL), which may be the ratio of the intensity of the maximum side lobe to the main lobe in the pattern. Specifically, for one array layout, when determining the side lobe levels corresponding to the multiple beam directions, the directional diagrams corresponding to the multiple beam directions may be obtained, and the side lobe levels corresponding to the respective beam directions may be determined by using the directional diagrams corresponding to the respective beam directions.
The directional diagram of the ultrasonic phased array can be a corresponding relation between sound intensity and direction, that is, after the beam direction is determined, the sound intensity corresponding to each direction can be obtained from the directional diagram. The directional pattern can be represented by the following equation:
wherein I represents sound intensity, E represents sound pressure, and theta represents azimuth angle,
is a solid angle of thetasIs the azimuth angle corresponding to the beam direction,
and M x N is the number of the array elements, x is the abscissa of the array elements, y is the ordinate of the array elements, and lambda is the wavelength.
For an array layout (i.e. the coordinates x and y of the elements are determined), when the beam direction θ issAnd with
After the determination, the directional pattern corresponding to the beam direction can be determined by the above equation. Here, taking the first beam direction as an example, the first beam direction may be any direction within the field of view, and after obtaining the directional pattern corresponding to the first beam direction, the intensity of the maximum side lobe and the intensity of the main lobe (all lobes except the main lobe are side lobes) may be determined from the directional pattern corresponding to the first beam direction, and the ratio of the intensity of the maximum side lobe to the intensity of the main lobe is determined as the side lobe level corresponding to the first beam direction.
In an implementation manner, the parameters to be optimized may further include identification parameters corresponding to each array element, and the identification parameters may be used to characterize whether the array element is valid. As mentioned above, the number of array elements may be established with a corresponding constraint, and specifically, the constraint may include a maximum upper limit of the number of array elements, in other words, the number of array elements may not be fixed, but the number of array elements should not exceed the set maximum upper limit for cost. Therefore, when a loss function is established, an identification parameter used for representing whether the array elements are effective or not can be added into the parameters to be optimized, so that in the optimization process, the optimization algorithm can invalidate unnecessary array elements by adjusting the identification parameter of the array elements, the number of the array elements is reduced as much as possible while the sidelobe suppression effect is ensured, and the manufacturing cost of the ultrasonic phased array is reduced.
In order to further improve the sidelobe suppression effect, in an implementation manner, the amplitude parameter of each array element may be added to the parameter to be optimized, so that, in addition to the geometric coordinates of the array elements, the amplitude of each array element may also be used as a variable affecting the value of the loss function, and may be updated or adjusted, so that the value of the loss function corresponding to the determined target parameter to be optimized is smaller, and a better sidelobe suppression effect is achieved.
In one embodiment, the ultrasonic phased array may correspond to an ultrasonic frequency of 40 Khz.
An example of determining the array element layout of an ultrasound phased array using genetic algorithms is provided below. Reference may be made to fig. 6, and fig. 6 is a flowchart for confirming an array element layout based on a genetic algorithm provided in an embodiment of the present application.
S601, initializing the parameters to be optimized to obtain a first generation population consisting of a plurality of groups of parameters to be optimized.
And S602, calculating the value of the corresponding loss function for each individual in the population (namely each group of parameters to be optimized).
And S603, selecting, crossing and mutating the population.
S604, determining whether a termination condition is met, and if the termination condition is met (the termination condition can be that the set iteration number is reached, or the value of the loss function is smaller than a preset value, or the value of the loss function is converged), entering the step S605; if the termination condition is not satisfied, the process may return to step S602.
S605, selecting an individual with the minimum loss function value from the last generation population, and determining the parameter to be optimized corresponding to the individual as a target parameter.
And S606, performing array element layout on the ultrasonic phased array according to the target parameters.
Reference may be made to fig. 7 and fig. 8, where fig. 7 is a schematic diagram of an optimized array element layout provided in an embodiment of the present application, and fig. 8 is a three-dimensional display diagram of side lobe levels corresponding to different beam directions based on the optimized array element layout. In fig. 8, the X-axis coordinate and the Y-axis coordinate of a point may determine the beam direction corresponding to the point, and the Z-axis coordinate of the point corresponds to the side lobe level (PSLL) corresponding to the beam direction. Therefore, the side lobe level can be lower than 0.4 within the solid angle of 45 degrees, and the side lobe suppression effect is better within the visual field range.
According to the array element layout method provided by the embodiment of the application, the function value of the established loss function can represent the fusion result of the ultrasonic phased array in the side lobe levels corresponding to a plurality of wave beam directions, so that the ultrasonic phased array can have better detection accuracy in a plurality of wave beam directions based on the array element layout obtained by optimizing the loss function, and the vision field requirement of the robot perception environment can be met.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an array element layout apparatus according to an embodiment of the present application. The apparatus may include: a processor 910 and a memory 920 storing a computer program, the processor realizing the following steps when executing the computer program:
establishing a loss function, wherein parameters to be optimized in the loss function at least comprise position parameters of each array element in the ultrasonic phased array, and the value of the loss function is obtained by fusing sidelobe levels corresponding to the ultrasonic phased array in a plurality of beam directions;
determining a target parameter to be optimized which minimizes the value of the loss function;
and carrying out array element layout on the ultrasonic phased array by using the target parameter to be optimized.
Optionally, the value of the loss function is obtained by weighting and calculating side lobe levels corresponding to the ultrasonic phased array in a plurality of beam directions.
Optionally, the weight of the side lobe level corresponding to the target beam direction is higher than the weight of the side lobe intensities corresponding to other beam directions.
Optionally, the first beam direction is any one of the plurality of beam directions, and the side lobe level corresponding to the first beam direction is determined by using a directional diagram corresponding to the first beam direction.
Optionally, determining a side lobe level corresponding to the first beam direction by using the directional diagram corresponding to the first beam direction includes:
determining the intensity of the maximum side lobe from a directional diagram corresponding to the first beam direction;
and determining the ratio of the intensity of the maximum side lobe to the intensity of the main lobe as the side lobe level corresponding to the first beam direction.
Optionally, the parameters to be optimized further include identification parameters corresponding to each array element, where the identification parameters are used to characterize whether the array elements are valid.
Optionally, the parameter to be optimized further includes an amplitude parameter of each array element.
Optionally, the plurality of beam directions includes respective beam directions within a field of view of the target.
Optionally, the determining a target parameter to be optimized that minimizes the value of the loss function includes:
and optimizing by using a specified optimization algorithm by taking the minimum value of the loss function as a target to obtain a target parameter to be optimized, which enables the minimum value of the loss function.
Optionally, the specified optimization algorithm comprises any one of: genetic algorithm, particle swarm algorithm, ant colony algorithm and simulated annealing algorithm.
Optionally, the ultrasound phased array is a two-dimensional array.
Optionally, the ultrasound phased array is used to construct a three-dimensional image of a scene.
Optionally, the ultrasound phased array comprises 40Khz corresponding to the ultrasound frequency.
For the above array element layout devices of various embodiments, reference may be made to the corresponding description in the foregoing for specific implementation, and details are not described herein again.
The array element layout device that this application embodiment provided, the function value of the loss function of establishing can characterize the ultrasonic phased array and in the fusion result of the side lobe level that a plurality of wave beam directions correspond to optimize the array element layout that obtains based on this loss function, can make ultrasonic phased array all have better detection accuracy in a plurality of wave beam directions, can satisfy the field of vision demand of robot perception environment.
An embodiment of the present application further provides an ultrasonic phased array, which includes: the array element layout method comprises the steps of determining a plurality of array elements, wherein the layout of the plurality of array elements is determined by the array element layout method of the ultrasonic phased array provided by the embodiment of the application.
Reference may be made to fig. 10, where fig. 10 is a schematic structural diagram of a movable platform provided in an embodiment of the present application. The movable platform may include:
a body 1010;
a drive 1020 coupled to the body 1010, the drive configured to provide power to the moveable platform;
the ultrasonic phased array 1030 carried on the body is determined by the array element layout method of the ultrasonic phased array provided by the embodiment of the application.
The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the array element layout method of the ultrasonic phased array provided by the embodiment of the present application.
In the above, various embodiments are provided for each protection subject, and on the basis of no conflict or contradiction, a person skilled in the art can freely combine various embodiments according to actual situations, thereby forming various technical solutions. The present disclosure is not limited to the text, and the technical solutions obtained by combining all the components cannot be expanded, but it can be understood that the technical solutions which are not expanded also belong to the scope disclosed in the embodiments of the present disclosure.
Embodiments of the present application may take the form of a computer program product embodied on one or more storage media including, but not limited to, disk storage, CD-ROM, optical storage, and the like, in which program code is embodied. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of the storage medium of the computer include, but are not limited to: phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and apparatus provided by the embodiments of the present application are described in detail above, and the principle and the embodiments of the present application are explained herein by applying specific examples, and the description of the embodiments above is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (29)
1. An array element layout method of an ultrasonic phased array is characterized by comprising the following steps:
establishing a loss function, wherein parameters to be optimized in the loss function at least comprise position parameters of each array element in the ultrasonic phased array, and the value of the loss function is obtained by fusing sidelobe levels corresponding to the ultrasonic phased array in a plurality of wave beam directions;
determining a target parameter to be optimized which minimizes the value of the loss function;
and carrying out array element layout on the ultrasonic phased array by using the target parameter to be optimized.
2. The method of claim 1, wherein the values of the loss function are calculated by weighting side lobe levels of the ultrasound phased array in a plurality of beam directions.
3. The method of claim 2, wherein the sidelobe levels corresponding to the target beam direction are weighted higher than the sidelobe intensities corresponding to the other beam directions.
4. The method of claim 1, wherein a first beam direction is any one of the plurality of beam directions, and wherein a side lobe level corresponding to the first beam direction is determined using a pattern corresponding to the first beam direction.
5. The method of claim 4, wherein determining the side lobe level corresponding to the first beam direction using the pattern corresponding to the first beam direction comprises:
determining the intensity of the maximum side lobe from a directional diagram corresponding to the first beam direction;
and determining the ratio of the intensity of the maximum side lobe to the intensity of the main lobe as the side lobe level corresponding to the first beam direction.
6. The method according to claim 1, wherein the parameters to be optimized further include identification parameters corresponding to each array element, and the identification parameters are used to characterize whether the array element is valid.
7. The method of claim 1, wherein the parameters to be optimized further comprise amplitude parameters of each array element.
8. The method of claim 1, wherein the plurality of beam directions comprises respective beam directions within a field of view of the target.
9. The method of claim 1, wherein determining the target parameter to be optimized that minimizes the value of the loss function comprises:
and optimizing by using a specified optimization algorithm by taking the minimum value of the loss function as a target to obtain a target parameter to be optimized, which enables the minimum value of the loss function.
10. The method of claim 9, wherein the specified optimization algorithm comprises any of: genetic algorithm, particle swarm algorithm, ant colony algorithm and simulated annealing algorithm.
11. The method of claim 1, wherein the ultrasonic phased array is a two-dimensional array.
12. The method of claim 11, wherein the ultrasound phased array is used to construct a three-dimensional image of a scene.
13. The method of claim 1, wherein the ultrasonic phased array corresponds to an ultrasonic frequency comprising 40 Khz.
14. An array element layout device of an ultrasonic phased array, comprising: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:
establishing a loss function, wherein parameters to be optimized in the loss function at least comprise position parameters of each array element in the ultrasonic phased array, and the value of the loss function is obtained by fusing sidelobe levels corresponding to the ultrasonic phased array in a plurality of wave beam directions;
determining a target parameter to be optimized which minimizes the value of the loss function;
and carrying out array element layout on the ultrasonic phased array by using the target parameter to be optimized.
15. The apparatus of claim 14, wherein the value of the loss function is calculated by weighting side lobe levels of the ultrasound phased array in a plurality of beam directions.
16. The apparatus of claim 15, wherein the sidelobe level corresponding to the target beam direction is weighted higher than the sidelobe intensity corresponding to the other beam directions.
17. The apparatus of claim 14, wherein a first beam direction is any one of the plurality of beam directions, and wherein a side lobe level corresponding to the first beam direction is determined using a pattern corresponding to the first beam direction.
18. The apparatus of claim 17, wherein determining the side lobe level corresponding to the first beam direction using the pattern corresponding to the first beam direction comprises:
determining the intensity of the maximum side lobe from a directional diagram corresponding to the first beam direction;
and determining the ratio of the intensity of the maximum side lobe to the intensity of the main lobe as the side lobe level corresponding to the first beam direction.
19. The apparatus according to claim 14, wherein the parameters to be optimized further include identification parameters corresponding to each array element, and the identification parameters are used to characterize whether the array element is valid.
20. The apparatus of claim 14, wherein the parameters to be optimized further comprise amplitude parameters of each array element.
21. The apparatus of claim 14, wherein the plurality of beam directions comprises respective beam directions within a field of view of a target.
22. The apparatus of claim 14, wherein the determining the target parameter to be optimized that minimizes the value of the loss function comprises:
and optimizing by using a specified optimization algorithm by taking the minimum value of the loss function as a target to obtain a target parameter to be optimized, which enables the minimum value of the loss function.
23. The apparatus of claim 22, wherein the specified optimization algorithm comprises any of: genetic algorithm, particle swarm algorithm, ant colony algorithm and simulated annealing algorithm.
24. The apparatus of claim 14, wherein the ultrasonic phased array is a two-dimensional array.
25. The apparatus of claim 24, wherein the ultrasound phased array is used to construct a three-dimensional image of a scene.
26. The apparatus of claim 14, wherein the ultrasonic phased array corresponds to an ultrasonic frequency comprising 40 Khz.
27. An ultrasonic phased array, comprising: a plurality of array elements, the layout of which is determined by the array element layout method of the ultrasonic phased array as claimed in any one of claims 1 to 13.
28. A movable platform, comprising:
a body;
the driving device is connected with the machine body and used for providing power for the movable platform;
an ultrasonic phased array mounted on the body, wherein the array element layout of the ultrasonic phased array is determined by the array element layout method of the ultrasonic phased array according to any one of claims 1 to 13.
29. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the method of array element layout of an ultrasound phased array according to any of claims 1 to 13.
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| CN117706541B (en) * | 2024-02-06 | 2024-04-16 | 四川省华盾防务科技股份有限公司 | Phased array multi-target tracking method, device, equipment and storage medium |
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